CN2907638Y - Recovery training apparatus for joint of lower limb - Google Patents
Recovery training apparatus for joint of lower limb Download PDFInfo
- Publication number
- CN2907638Y CN2907638Y CNU2006202004366U CN200620200436U CN2907638Y CN 2907638 Y CN2907638 Y CN 2907638Y CN U2006202004366 U CNU2006202004366 U CN U2006202004366U CN 200620200436 U CN200620200436 U CN 200620200436U CN 2907638 Y CN2907638 Y CN 2907638Y
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- lower limb
- spring
- tooth bar
- control circuit
- utility
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Abstract
The utility model relates to a lower limbs joint healing exerciser and includes a housing case, a leg placement board, adjustable support legs, and a transmission rig and a control circuit arranged with in the housing case, which is characterized in that a stiffness-shift mechanism are arranged between the underplate and the leg placement board. The stiffness-shift mechanism consists of an electric motor, a transmission rig, a pinion, a spring sleeve, a pressure spring, a compression rod, an external rack fixing skeleton, and an internal rack fixing skeleton, and the control circuit is equipped with a signal collection module. The structure activity of parallelogrammic angle of the utility model can perfectly meet the requirements of human bodies, realize stable and equal movement of wounded limbs, and provide active exercises of various stages according to exercising conditions. Compared with the existing lower limbs joint healer, the utility model has the advantages of extensive applicable field, high safety and excellent treatment effects, etc. The utility model is suitable for postoperative rehabilitation for healing normal physiological functions of lower limb joints for patients in department of orthopaedics and department of rehabilitation.
Description
Technical field
This utility model relates to a kind of rehabilitation appliances of medical apparatus and instruments, particularly relates to a kind of rehabilitation training device for lower limb arthrosis of passive, active exercise training.
Background technology
Existing rehabilitation training device for lower limb arthrosis mainly is made up of casing, lower limb carriage, adjustable foot support, drive mechanism and controlling organization etc., and lower limb carriage wherein then props up and is configured to by rotating thigh support frame that section header links together and shank.It is reciprocating to drive the push rod lower end by drive mechanism, drives lower limb carrier stretch and flexing, makes the trouble limb that places on the lower limb carriage obtain passive exercise, thereby reaches the purpose of rehabilitation.Because push rod is positioned under the leg support of expansion link end of shank support end, when the push rod lower end moves to the stroke end, when being the flexion angle maximum of lower limb carriage, the height of push rod is in minimum point, the length adjustment and the activity point of view of lower limb carriage are restricted, the difficult demand that satisfies the patient of different heights.Though raising activity point of view that can be suitable after updating, adaptive capacity constantly strengthens.But all do not break away from structural restriction, the degree that active scope adapts to is inevitable limited, the effect of treatment will be subjected to very big influence, and what did in the joint when doing the rehabilitation passive exercise with this leg support shelf structure is non-translation variable-speed motion, and this training does not reach optimum therapeuticing effect.But early stage passive exercise is very necessary also has a problem after operation: patient is because all existence amyotrophy are in various degree shunk in the active of the early stage muscle in shortage operation back.Abroad generally be to carry out passive exercise earlier, have special medical personnel that patient is carried out the active training guidance then, will be subjected to the limited restriction of medical personnel like this.And present most of active training aids all is vertical, and the compensatory phenomenon that will occur limbs gravity like this makes initiatively to train and do not reach due effect.And the control of present most of recovery training appliance for recovery is all fairly simple, and machine just there is no monitoring system by the program motion of setting once setting the back, once the hidden danger of abnormal conditions on must bringing safely to the patient occurs.
Summary of the invention
At the existing in prior technology problem, the purpose of this utility model be a kind of activity point of view of development satisfy the human body needs fully, when carrying out rehabilitation training, realize patient's limbs translation and at the uniform velocity, can carry out the rehabilitation training device for lower limb arthrosis that passive exercise can carry out the active training of different phase again according to patient's training after surgery in earlier stage, and the patient can rely on this machine independently to realize initiatively training.Thereby realization optimum therapeuticing effect.
Its structure of rehabilitation training device for lower limb arthrosis described in the utility model, comprise casing, base plate, leg-placing plate, adjustable foot support and be arranged on casing interior drive mechanism and control circuit, it is characterized in that between base plate and leg-placing plate, being provided with change rigidity mechanism and be fixed on the connecting rod, four adjustable cranks are arranged with rod hinge connection; Adjustable crank belongs to driven two and links by the axle in tensioner coupling sleeve and the bearing block; Adjustable crank belongs to two of driving and links by tensioner coupling sleeve and driving shaft; Be fixed with bearing block and casing on the base plate; The intelligence control circuit that described control circuit is made up of single-chip microcomputer; Wherein reach single-chip microcomputer, after single-chip microcomputer is handled, pass in the motor drive module by signal acquisition module pilot signal of gathering and the control signal that sets by human-computer interaction module.
Change rigidity described in the utility model mechanism is become by motor, drive mechanism, pinion, spring spool, compression spring, constrictor, outer tooth bar fixed mount, interior tooth bar fixing architecture; Wherein motor is fixedlyed connected with pinion by the connecting axle in the drive mechanism; Pinion is meshed with tooth bar on outer tooth bar fixed mount, the interior tooth bar fixed mount; Two spring spools are built-in with two compression springs and are enclosed within on the constrictor, and spring spool is positioned at the movable end that is of constrictor intermediate ends, and the other end is fixed on the tooth bar fixed support; The spring spool movable end is provided with catch and blocks spring.
Control circuit described in the utility model also is provided with signal acquisition module, data communication module; Data communication module is connected with computer by the RS232 bus; Signal acquisition module is made of spring position pick off, main motor position sensor, torque sensor, digital to analog converter; All the sensors all converts the voltage signal input digital to analog converter of gathering to digital signal and passes to single-chip microcomputer.
Being provided with adapter in the middle of two constrictors of change rigidity described in the utility model mechanism can fixedly connectedly be connected with leg-placing plate by various.
Drive mechanism in the change rigidity described in the utility model mechanism is made of worm screw, worm gear, connecting axle; Described worm gear and connecting axle are fixed as one.
Rehabilitation training device for lower limb arthrosis provided by the utility model has following characteristics:
(1) becoming rigidity mechanism is fixed on the connecting rod, there are four adjustable cranks to constitute parallel-crank mechanism with rod hinge connection, are equipped with the shank leg-placing plate above the change rigidity mechanism, when carrying out passive exercise, the compression spring does not produce compression, shank leg-placing plate and the inter-agency no relative motion of change rigidity.Training aids can be satisfied the angle exercise requirement in joint, does not exist structural restriction to make active angle impaired, and only need adjust adjustable crank and the adjustable foot support just all can satisfy its training need to the patient of different heights.
(2) parallelogram sturcutre can keep the horizontal direction translation can make patient's joint motion steady like this when doing rehabilitation training when taking exercises.
(3) when carrying out initiatively training, the patient can rely on this machine independently to realize initiatively training, and this machine can be avoided the compensation of limbs gravity.Control section is used Single-chip Controlling sensor feedback action message, realizes self-monitoring.
In sum, this utility model is compared with existing joint of the lower extremity rehabilitation device, can carry out function expansion by data communication module, and have applied widely, simple in structure, volume is little, easy to use, safe, advantage such as therapeutic effect is good.
Description of drawings
Fig. 1 is a structural representation of the present utility model.
Fig. 2 is the sketch map of stiffness changing structure of the present utility model.
Fig. 3 is the vertical view of Fig. 2.
Fig. 4 is a control system structured flowchart of the present utility model.
Among the figure: 1, casing 2, the long adjusting knob 3 of bar, adjustable crank 4, become rigidity mechanism 5, adjustable leg support 6, leg-placing plate 7, tensioner coupling sleeve 8, bearing block 9, base plate 10, display 11, supervisory keyboard 12, leg support fixed knob 13, shank fixing band 14, motor 15, worm screw 16, worm gear 17, connecting axle 18, pinion 19, drive mechanism 20, tooth bar 21, compression spring 22, constrictor 23, spring spool 24, adapter 25, interior tooth bar fixed mount 26, outer tooth bar fixed mount 27, human-computer interaction module 28, signal acquisition module 29, data communication module 30, motor drive module 31, spring position pick off 32, main motor position sensor 33, torque sensor 34, digital to analog converter 35, single-chip microcomputer
The specific embodiment
A kind of as shown in drawings rehabilitation training device for lower limb arthrosis, comprise casing 1, base plate 9, leg-placing plate 6, adjustable foot support 5 and be arranged on drive mechanism and control circuit in the casing 1, it is characterized in that between base plate 9 and leg-placing plate 6, being provided with change rigidity mechanism 4 and be fixed on the connecting rod, four adjustable cranks 3 are arranged with rod hinge connection; Adjustable crank 3 belongs to driven two and links by tensioner coupling sleeve 7 and axle in the bearing block 8; Adjustable crank 3 belongs to two of driving and links by tensioner coupling sleeve 7 and driving shaft; Be fixed with bearing block 8 and casing 1 on the base plate 9; The intelligence control circuit that described control circuit is made up of single-chip microcomputer 35; Wherein reach single-chip microcomputer, after single-chip microcomputer 35 is handled, pass in the motor drive module 30 by signal acquisition module 28 pilot signal of being gathered and the control signal that sets by human-computer interaction module 27.Described change rigidity mechanism 4 is made of motor 14, drive mechanism 19, pinion 18, spring spool 23, compression spring 21, constrictor 22, outer tooth bar fixed mount 26, interior tooth bar fixed mount 25; Wherein motor 14 is fixedlyed connected with pinion 18 by the connecting axle 17 in the drive mechanism 19; Pinion 18 is meshed with tooth bar 20 on outer tooth bar fixed mount 26, the interior tooth bar fixed mount 25; Two spring spools 23 are built-in with two compression springs 21 and are enclosed within on the constrictor 22, and spring spool 23 is positioned at the movable end that is of constrictor 22 intermediate ends, and the other end is fixed on the tooth bar fixed support 25,26; Spring spool 23 movable ends are provided with catch and block spring.Described control circuit also is provided with signal acquisition module 28, data communication module 29; Data communication module 29 is connected with computer by the RS232 bus; Signal acquisition module 28 is made of spring position pick off 31, main motor position sensor 32, torque sensor 33, digital to analog converter 34; All the sensors all converts the voltage signal input digital to analog converter of gathering 34 to digital signal and passes to single-chip microcomputer 35.Being provided with adapter 24 in the middle of two constrictors 22 of described change rigidity mechanism 4 can fixedly connectedly be fixedly connected with leg-placing plate 6 by various.Drive mechanism 19 in the described change rigidity mechanism 4 is made of worm screw 15, worm gear 16, connecting axle 17; Worm gear 16 is fixed as one with connecting axle 17.During use, the height of adjusting adjustable crank 3 by the long adjusting knob 2 of bar is fit to the length of patient's thigh, the position of leg support fixed knob 12 adjustment adjustable leg supports 6 is fit to the length of patient's shank; With shank fixing band 13 shank is fixed on the leg-placing plate 6 then.Set training according to doctor's guidance then, major function of the present utility model operation: (1) can be provided with the initial sum termination point arbitrarily according to clinical needs, and adopt charactron show initial, stop, angle and working time in real time; (2) be provided with 4 kinds of mode of operations conventional and that every 5min, 15min, 30min increase by 1 are spent, can finish the overall process of incremental reconditioning automatically; Running into unusual resistance when (3) moving can be auto-reverse, guarantees patient safety, and the threshold values when auto-reverse can freely be set; (4) speed of service can be regulated arbitrarily in the scope of 4 degree/seconds, satisfies the exercise requirement in each stage of postoperative; (5) be provided with the timing shutdown function, make things convenient for clinical management, 255min is adjustable for timing 0min Zhao; (6) the configuration hand controller can directly be controlled bending, stretch, open, stopping of machine by the patient.Human-computer interaction module 27 can adopt and comprise supervisory keyboard 11 (one 4 * 4 keyboard) and display 10 (one six figure place sign indicating number display) and form, and application controls keyboard 11 can carry out operations such as position adjustments, speed adjusting, model selection.In operation, the data communication module 29 of system contains a rs-232 standard communication interface, can be provided with or expand logic function system by terminal, system's specialized designs one cover general operation instruction, unified the interface of data acquisition module 29 with motor drive module 30, can also be used for the function expansion of terminal, make system can realize various complicated operational mode, the PC platform control software of Windows operating system compatibility is provided now, will have released the control software and the kit of other platforms in future.The control instruction that defines in the system comprises speed, direction, start and stop, the brake setting of motor at present, position, torque feedback signal collection, and the timing of system's operation etc.By keyboard 11 input instruction and operands, after button was pressed, the content of input was shown on the display 10.During operational mode, display 10 shows running status.
Doing when initiatively training according to physician guidance, in supervisory keyboard, set the patient and should the stage maximum muscle force regulate the stroke range that becomes compression spring in the rigidity mechanism 4, be embodied as: be movable end near constrictor 22 intermediary spring spools 23, the two ends of constrictor 22 are movable end.Rotate by the driven by motor worm screw 15 that the change rigidity mechanism driver drives in the motor drive module 30 becomes in the rigidity mechanism 4, worm screw 15 is rotated and drives worm gear 16 rotations, at this moment will rotate by the pinion 18 that connecting axle 17 is connected with worm gear 16 thereupon, the tooth bar 20 that is meshed with pinion will drive two tooth bar fixed mounts 25,26 motions, if increasing rigidity, two tooth bar fixed mounts 25,26 will advance to two ends drives spring spool 23 and advances to two ends, because the length of constrictor 22 is constant, so the relative length of the movable end of constrictor 22 and spring spool 23 movable ends will shorten, so just compress spring 21 elastic force of spring is increased; A spring discharges when being placed on trouble limb on the leg-placing plate 6 that is connected to a fixed with adapter 24 and exerting oneself, a spring continues compression, two springs produce difference power and the patient firmly balances each other, when the relative length of a constrictor 22 and a side spring spool 23 returns to compression spring length, constrictor 22 pushes up the top of opposite side spring spool 23, the power of patient's shank use at this moment reaches the damping force of this stage setting, has so just realized patient's active training.
In order to ensure accuracy, stability, the safety of training aids, the main driving adopted monopole asynchronous motor, and into reaching accurate position control, motor 14 has adopted direct current generator in the change rigidity mechanism.Main electric driver mechanism in the driver module 30 uses the bidirectional thyristor for regulating voltage mode that it is carried out speed regulating control, and the solid-state AC relay SSR type control of use is switched in rotating.Become the rigidity drive part and adopt motor-driven control chip provided L298.The L298 chip provides the DC MOTOR CONTROL function, can control with braking by travel direction, and two inputs are respectively direction and brake signal, are provided by single-chip microcomputer.
Required feedback signal comprises the position of main motor and moment of torsion, change rigidity mechanism position, and sensor feedback signal is the 0-5V voltage analog, is converted to digital signal by the modular converter in the signal acquisition module 28 (ADC0809 transducer) and beams back single-chip microcomputer.What position sensor used is high-precision turn knob potentiometer, and voltage analog is sent into the IN port of modular converter (ADC0809 transducer), and the conversion accuracy of modular converter (ADC0809 transducer) is 8Bit, can satisfy the needs of use.The speed amount is passed through to calculate by position signalling
Method is handled computing and is obtained, and is realized by software.The analog voltage amount of torque sensor is sent into the IN port of modular converter (ADC0809 transducer), and the result enters single-chip microcomputer, and compares with threshold values that the torque adjusting knob is set.If the load that training aids is born surpasses the threshold values that the torque adjusting knob sets, then single-chip microcomputer
Send the motor commutation signal,, make motor commutation through direction control; Otherwise, then keep former direction operation.Because the response speed of single-chip microcomputer is fast, precision is high, add the safety that feedback element just can keep the rehabilitation training process like this.
Claims (5)
1. rehabilitation training device for lower limb arthrosis, comprise casing (1), base plate (9), leg-placing plate (6), adjustable foot support (5) and be arranged on casing (1) interior drive mechanism and control circuit, it is characterized in that being positioned at being provided with between base plate (9) and the leg-placing plate (6) and become rigidity mechanism (4) and be fixed on the connecting rod, four adjustable cranks (3) are arranged with rod hinge connection; Adjustable crank (3) belongs to driven two and links by tensioner coupling sleeve (7) and axle in the bearing block (8); Adjustable crank (3) belongs to two of driving and links by tensioner coupling sleeve (7) and driving shaft; Be fixed with bearing block (8) and casing (1) on the base plate (9); The intelligence control circuit that described control circuit is made up of single-chip microcomputer (35); Wherein reach single-chip microcomputer (35), after handling, pass in the motor drive module (30) by single-chip microcomputer (35) by signal acquisition module (28) pilot signal of being gathered and the control signal that sets by human-computer interaction module (27).
2. rehabilitation training device for lower limb arthrosis according to claim 1 is characterized in that described change rigidity mechanism (4) is made of motor (14), drive mechanism (19), pinion (18), spring spool (23), compression spring (21), constrictor (22), outer tooth bar fixed mount (26), interior tooth bar fixed mount (25); Wherein motor (14) is fixedlyed connected with pinion (18) by the connecting axle (17) in the drive mechanism (19); Pinion (18) is meshed with tooth bar (20) on outer tooth bar fixed mount (26), the interior tooth bar fixed mount (25); Two spring spools (23) are built-in with two compression springs (21) and are enclosed within on the constrictor (22), and spring spool (23) is positioned at the movable end that is of constrictor (22) intermediate ends, and the other end is fixed on the tooth bar fixed support (25,26); Spring spool (23) movable end is provided with catch and blocks spring.
3. rehabilitation training device for lower limb arthrosis according to claim 1 is characterized in that described control circuit also is provided with signal acquisition module (28), data communication module (29); Data communication module (29) is connected with computer by the RS232 bus; Signal acquisition module (28) is made of spring position pick off (31), main motor position sensor (32), torque sensor (33), digital to analog converter (34); All the sensors all converts the voltage signal input digital to analog converter of gathering (34) to digital signal and passes to single-chip microcomputer (35).
4. rehabilitation training device for lower limb arthrosis according to claim 1, it is characterized in that being provided with in the middle of two constrictors (22) of described change rigidity mechanism (4) adapter (24) can be fixedly connected by various fixedly connected and leg-placing plates (6).
5. rehabilitation training device for lower limb arthrosis according to claim 1 and 2 is characterized in that the drive mechanism (19) in the described change rigidity mechanism (4) is made of worm screw (15), worm gear (16), connecting axle (17); Worm gear (16) is fixed as one with connecting axle (17).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2006202004366U CN2907638Y (en) | 2006-05-18 | 2006-05-18 | Recovery training apparatus for joint of lower limb |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2006202004366U CN2907638Y (en) | 2006-05-18 | 2006-05-18 | Recovery training apparatus for joint of lower limb |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2907638Y true CN2907638Y (en) | 2007-06-06 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU2006202004366U Expired - Fee Related CN2907638Y (en) | 2006-05-18 | 2006-05-18 | Recovery training apparatus for joint of lower limb |
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| Country | Link |
|---|---|
| CN (1) | CN2907638Y (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102114318A (en) * | 2011-01-19 | 2011-07-06 | 大连交通大学 | Lower limb joint rehabilitation training device |
| CN105496747A (en) * | 2015-11-26 | 2016-04-20 | 淮阴工学院 | Ankle pump exerciser |
| CN107174480A (en) * | 2016-03-17 | 2017-09-19 | 长乐市丽智产品设计有限公司 | A kind of therapeutic equipment |
-
2006
- 2006-05-18 CN CNU2006202004366U patent/CN2907638Y/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102114318A (en) * | 2011-01-19 | 2011-07-06 | 大连交通大学 | Lower limb joint rehabilitation training device |
| CN105496747A (en) * | 2015-11-26 | 2016-04-20 | 淮阴工学院 | Ankle pump exerciser |
| CN107174480A (en) * | 2016-03-17 | 2017-09-19 | 长乐市丽智产品设计有限公司 | A kind of therapeutic equipment |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20070606 Termination date: 20100518 |